Package com.irurueta.navigation.inertial.calibration.generators

Class AccelerometerAndGyroscopeMeasurementsGeneratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.generators.AccelerometerAndGyroscopeMeasurementsGeneratorTest

All Implemented Interfaces:

AccelerometerAndGyroscopeMeasurementsGeneratorListener

class AccelerometerAndGyroscopeMeasurementsGeneratorTest
extends Object
implements AccelerometerAndGyroscopeMeasurementsGeneratorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private final List<StandardDeviationBodyKinematics>	accelerometerMeasurements
private static final double	DEG_TO_RAD
private int	dynamicIntervalDetected
private int	dynamicIntervalSkipped
private int	error
private int	generatedAccelerometerMeasurement
private int	generatedGyroscopeMeasurement
private final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>>	gyroscopeMeasurements
private int	initializationCompleted
private int	initializationStarted
private static final double	LARGE_ABSOLUTE_ERROR
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_DELTA_ANGLE_DEGREES
private static final double	MAX_DELTA_POS_METERS
private static final double	MAX_HEIGHT
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private static final double	MICRO_G_TO_METERS_PER_SECOND_SQUARED
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_DELTA_ANGLE_DEGREES
private static final double	MIN_DELTA_POS_METERS
private static final double	MIN_HEIGHT
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private int	reset
private static final double	SMALL_ABSOLUTE_ERROR
private static final double	SMALL_ROOT_PSD
private int	staticIntervalDetected
private int	staticIntervalSkipped
private static final double	TIME_INTERVAL_SECONDS
private static final int	TIMES
private static final double	VERY_LARGE_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
AccelerometerAndGyroscopeMeasurementsGeneratorTest()

Method Summary

Modifier and Type	Method	Description
private void	checkLocked(AccelerometerAndGyroscopeMeasurementsGenerator generator)
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private static BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>	generateDynamicSamples(AccelerometerAndGyroscopeMeasurementsGenerator generator, int numSamples, BodyKinematics trueKinematics, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.navigation.frames.ECEFFrame ecefFrame, com.irurueta.navigation.frames.NEDFrame nedFrame, IMUErrors errors, int startSample, boolean changePosition)
private static com.irurueta.algebra.Matrix	generateGg()
private static com.irurueta.algebra.Matrix	generateMaCommonAxis()
private static com.irurueta.algebra.Matrix	generateMaGeneral()
private static com.irurueta.algebra.Matrix	generateMg()
private static void	generateStaticSamples(AccelerometerAndGyroscopeMeasurementsGenerator generator, int numSamples, BodyKinematics trueKinematics, IMUErrors errors, int startSample)
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
private static double	interpolate(double value, double progress)
void	onDynamicIntervalDetected(AccelerometerAndGyroscopeMeasurementsGenerator generator)
void	onDynamicIntervalSkipped(AccelerometerAndGyroscopeMeasurementsGenerator generator)
void	onError(AccelerometerAndGyroscopeMeasurementsGenerator generator, TriadStaticIntervalDetector.ErrorReason reason)
void	onGeneratedAccelerometerMeasurement(AccelerometerAndGyroscopeMeasurementsGenerator generator, StandardDeviationBodyKinematics measurement)
void	onGeneratedGyroscopeMeasurement(AccelerometerAndGyroscopeMeasurementsGenerator generator, BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> measurement)
void	onInitializationCompleted(AccelerometerAndGyroscopeMeasurementsGenerator generator, double accelerometerBaseNoiseLevel)
void	onInitializationStarted(AccelerometerAndGyroscopeMeasurementsGenerator generator)
void	onReset(AccelerometerAndGyroscopeMeasurementsGenerator generator)
void	onStaticIntervalDetected(AccelerometerAndGyroscopeMeasurementsGenerator generator)
void	onStaticIntervalSkipped(AccelerometerAndGyroscopeMeasurementsGenerator generator)
private void	reset()
(package private) void	testConstructor1()
(package private) void	testConstructor2()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThreshold()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement()
(package private) void	testGetSetInitialStaticSamples()
(package private) void	testGetSetInstantaneousNoiseLevelFactor()
(package private) void	testGetSetListener()
(package private) void	testGetSetMaxDynamicSamples()
(package private) void	testGetSetMinStaticSamples()
(package private) void	testGetSetThresholdFactor()
(package private) void	testGetSetTimeInterval1()
(package private) void	testGetSetTimeInterval2()
(package private) void	testGetSetWindowSize()
(package private) void	testProcessCalibrateAndResetSmallNoiseMaCommonAxisAndNoGDependentCrossBiases()
(package private) void	testProcessCalibrateAndResetSmallNoiseMaGeneralAndNoGDependentCrossBiases()
(package private) void	testProcessCalibrateAndResetSmallNoiseMaGeneralAndWithGDependentCrossBiases()
(package private) void	testProcessCalibrateAndResetSmallNoiseWithRotationAndPositionChangeMaCommonAxisAndNoGDependentCrossBiases()
(package private) void	testProcessCalibrateAndResetWithNoiseMaCommonAxisAndNoGDependentCrossBiases()
(package private) void	testProcessErrorWithExcessiveOverallNoise()
(package private) void	testProcessSkipDynamicInterval()
(package private) void	testProcessSkipStaticInterval()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

TIME_INTERVAL_SECONDS

private static final double TIME_INTERVAL_SECONDS

See Also:

• Constant Field Values

MICRO_G_TO_METERS_PER_SECOND_SQUARED

private static final double MICRO_G_TO_METERS_PER_SECOND_SQUARED

See Also:

• Constant Field Values

DEG_TO_RAD

private static final double DEG_TO_RAD

See Also:

• Constant Field Values

MIN_ANGLE_DEGREES

private static final double MIN_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_ANGLE_DEGREES

private static final double MAX_ANGLE_DEGREES

See Also:

• Constant Field Values

MIN_LATITUDE_DEGREES

private static final double MIN_LATITUDE_DEGREES

See Also:

• Constant Field Values

MAX_LATITUDE_DEGREES

private static final double MAX_LATITUDE_DEGREES

See Also:

• Constant Field Values

MIN_LONGITUDE_DEGREES

private static final double MIN_LONGITUDE_DEGREES

See Also:

• Constant Field Values

MAX_LONGITUDE_DEGREES

private static final double MAX_LONGITUDE_DEGREES

See Also:

• Constant Field Values

MIN_HEIGHT

private static final double MIN_HEIGHT

See Also:

• Constant Field Values

MAX_HEIGHT

private static final double MAX_HEIGHT

See Also:

• Constant Field Values

MIN_DELTA_POS_METERS

private static final double MIN_DELTA_POS_METERS

See Also:

• Constant Field Values

MAX_DELTA_POS_METERS

private static final double MAX_DELTA_POS_METERS

See Also:

• Constant Field Values

MIN_DELTA_ANGLE_DEGREES

private static final double MIN_DELTA_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_DELTA_ANGLE_DEGREES

private static final double MAX_DELTA_ANGLE_DEGREES

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

VERY_LARGE_ABSOLUTE_ERROR

private static final double VERY_LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

SMALL_ABSOLUTE_ERROR

private static final double SMALL_ABSOLUTE_ERROR

See Also:

• Constant Field Values

SMALL_ROOT_PSD

private static final double SMALL_ROOT_PSD

See Also:

• Constant Field Values

initializationStarted

private int initializationStarted

initializationCompleted

private int initializationCompleted

error

private int error

staticIntervalDetected

private int staticIntervalDetected

dynamicIntervalDetected

private int dynamicIntervalDetected

staticIntervalSkipped

private int staticIntervalSkipped

dynamicIntervalSkipped

private int dynamicIntervalSkipped

generatedAccelerometerMeasurement

private int generatedAccelerometerMeasurement

generatedGyroscopeMeasurement

private int generatedGyroscopeMeasurement

reset

private int reset

gyroscopeMeasurements

private final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> gyroscopeMeasurements

accelerometerMeasurements

private final List<StandardDeviationBodyKinematics> accelerometerMeasurements

Constructor Details

AccelerometerAndGyroscopeMeasurementsGeneratorTest

AccelerometerAndGyroscopeMeasurementsGeneratorTest()

Method Details

testConstructor1

@Test
void testConstructor1()

testConstructor2

@Test
void testConstructor2()

testGetSetTimeInterval1

@Test
void testGetSetTimeInterval1()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetTimeInterval2

@Test
void testGetSetTimeInterval2()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetMinStaticSamples

@Test
void testGetSetMinStaticSamples()
                         throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetMaxDynamicSamples

@Test
void testGetSetMaxDynamicSamples()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetListener

@Test
void testGetSetListener()
                 throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetWindowSize

@Test
void testGetSetWindowSize()
                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialStaticSamples

@Test
void testGetSetInitialStaticSamples()
                             throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetThresholdFactor

@Test
void testGetSetThresholdFactor()
                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInstantaneousNoiseLevelFactor

@Test
void testGetSetInstantaneousNoiseLevelFactor()
                                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetBaseNoiseLevelAbsoluteThreshold

@Test
void testGetSetBaseNoiseLevelAbsoluteThreshold()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement

@Test
void testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement()
                                                     throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testProcessCalibrateAndResetWithNoiseMaCommonAxisAndNoGDependentCrossBiases

@Test
void testProcessCalibrateAndResetWithNoiseMaCommonAxisAndNoGDependentCrossBiases()
                                                                          throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessCalibrateAndResetSmallNoiseMaGeneralAndNoGDependentCrossBiases

@Test
void testProcessCalibrateAndResetSmallNoiseMaGeneralAndNoGDependentCrossBiases()
                                                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessCalibrateAndResetSmallNoiseMaCommonAxisAndNoGDependentCrossBiases

@Test
void testProcessCalibrateAndResetSmallNoiseMaCommonAxisAndNoGDependentCrossBiases()
                                                                           throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessCalibrateAndResetSmallNoiseMaGeneralAndWithGDependentCrossBiases

@Test
void testProcessCalibrateAndResetSmallNoiseMaGeneralAndWithGDependentCrossBiases()
                                                                          throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessSkipStaticInterval

@Test
void testProcessSkipStaticInterval()
                            throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessSkipDynamicInterval

@Test
void testProcessSkipDynamicInterval()
                             throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessErrorWithExcessiveOverallNoise

@Test
void testProcessErrorWithExcessiveOverallNoise()
                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testProcessCalibrateAndResetSmallNoiseWithRotationAndPositionChangeMaCommonAxisAndNoGDependentCrossBiases

@Test
void testProcessCalibrateAndResetSmallNoiseWithRotationAndPositionChangeMaCommonAxisAndNoGDependentCrossBiases()
                                                                                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

onInitializationStarted

public void onInitializationStarted(AccelerometerAndGyroscopeMeasurementsGenerator generator)

Specified by:

onInitializationStarted in interface AccelerometerAndGyroscopeMeasurementsGeneratorListener

onInitializationCompleted

public void onInitializationCompleted(AccelerometerAndGyroscopeMeasurementsGenerator generator,
 double accelerometerBaseNoiseLevel)

Specified by:

onInitializationCompleted in interface AccelerometerAndGyroscopeMeasurementsGeneratorListener

onError

public void onError(AccelerometerAndGyroscopeMeasurementsGenerator generator,
 TriadStaticIntervalDetector.ErrorReason reason)

Specified by:

onError in interface AccelerometerAndGyroscopeMeasurementsGeneratorListener

onStaticIntervalDetected

public void onStaticIntervalDetected(AccelerometerAndGyroscopeMeasurementsGenerator generator)

Specified by:

onStaticIntervalDetected in interface AccelerometerAndGyroscopeMeasurementsGeneratorListener

onDynamicIntervalDetected

public void onDynamicIntervalDetected(AccelerometerAndGyroscopeMeasurementsGenerator generator)

Specified by:

onDynamicIntervalDetected in interface AccelerometerAndGyroscopeMeasurementsGeneratorListener

onStaticIntervalSkipped

public void onStaticIntervalSkipped(AccelerometerAndGyroscopeMeasurementsGenerator generator)

Specified by:

onStaticIntervalSkipped in interface AccelerometerAndGyroscopeMeasurementsGeneratorListener

onDynamicIntervalSkipped

public void onDynamicIntervalSkipped(AccelerometerAndGyroscopeMeasurementsGenerator generator)

Specified by:

onDynamicIntervalSkipped in interface AccelerometerAndGyroscopeMeasurementsGeneratorListener

onGeneratedAccelerometerMeasurement

public void onGeneratedAccelerometerMeasurement(AccelerometerAndGyroscopeMeasurementsGenerator generator,
 StandardDeviationBodyKinematics measurement)

Specified by:

onGeneratedAccelerometerMeasurement in interface AccelerometerAndGyroscopeMeasurementsGeneratorListener

onGeneratedGyroscopeMeasurement

public void onGeneratedGyroscopeMeasurement(AccelerometerAndGyroscopeMeasurementsGenerator generator,
 BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> measurement)

Specified by:

onGeneratedGyroscopeMeasurement in interface AccelerometerAndGyroscopeMeasurementsGeneratorListener

onReset

public void onReset(AccelerometerAndGyroscopeMeasurementsGenerator generator)

Specified by:

onReset in interface AccelerometerAndGyroscopeMeasurementsGeneratorListener

reset

private void reset()

checkLocked

private void checkLocked(AccelerometerAndGyroscopeMeasurementsGenerator generator)

generateBa

private static com.irurueta.algebra.Matrix generateBa()

generateBg

private static com.irurueta.algebra.Matrix generateBg()

generateMaCommonAxis

private static com.irurueta.algebra.Matrix generateMaCommonAxis()
                                                         throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateMaGeneral

private static com.irurueta.algebra.Matrix generateMaGeneral()
                                                      throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateMg

private static com.irurueta.algebra.Matrix generateMg()
                                               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateGg

private static com.irurueta.algebra.Matrix generateGg()
                                               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

getAccelNoiseRootPSD

private static double getAccelNoiseRootPSD()

getGyroNoiseRootPSD

private static double getGyroNoiseRootPSD()

generateStaticSamples

private static void generateStaticSamples(AccelerometerAndGyroscopeMeasurementsGenerator generator,
 int numSamples,
 BodyKinematics trueKinematics,
 IMUErrors errors,
 int startSample)
                                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

generateDynamicSamples

private static BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> generateDynamicSamples(AccelerometerAndGyroscopeMeasurementsGenerator generator,
 int numSamples,
 BodyKinematics trueKinematics,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.navigation.frames.ECEFFrame ecefFrame,
 com.irurueta.navigation.frames.NEDFrame nedFrame,
 IMUErrors errors,
 int startSample,
 boolean changePosition)
                                                                                            throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

interpolate

private static double interpolate(double value,
 double progress)